/* 
 * File:   global.h
 * Author: hadrien
 *
 * Created on 6 mars 2012, 21:39
 */

#ifndef GLOBAL_H
#define	GLOBAL_H

#include <string>
//Display
extern const bool SHOW_3D_LIVE;
extern const bool CAMERA_3DSCENE_FOLLOWS_ROBOT ;
//#if !MRPT_HAS_WXWIDGETS
//SHOW_3D_LIVE = false;
//#endif

//Simulation
extern const int N_STEPS_STOP_AT_THE_BEGINNING;
extern const float SIZE_STEP_S;
extern const unsigned int nSteps;

//Landmark generation and map size
extern unsigned int nLandmarks;
extern const float min_x;
extern const float max_x;
extern const float min_y;
extern const float max_y;


//Log saving
extern const unsigned int SAVE_LOG_FREQUENCY;
extern const bool SAVE_3D_SCENES;
extern const bool SAVE_MAP_REPRESENTATIONS;

extern std::string OUT_DIR;

//Robot speed
extern const double max_speed; //m/s
extern const double max_turn_rate; //rad/s
extern const double min_speed; //m/s
extern const double min_turn_rate; //rad/s

//Odometry Error per Step (defined by SIZE_STEP_S)
extern const float odometryNoiseXY_std;
extern const float odometryNoisePhi_std_deg;

extern const float minSensorDistance;
extern const float maxSensorDistance;
extern const float fieldOfView_deg;
extern const float stdRange;
extern const float stdYaw_deg;

//Robot State Thresholds
extern const float maxStateTrace;
extern const float maxLMTrace;

#endif	/* GLOBAL_H */

